def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
# decoration
rospack = rospkg.RosPack()
self.picpath = rospack.get_path('silva_beta')+'/src/assets/logo.png'
# object init
self.sld = []
self.sldh = [] #high: highest limit
self.sldl = [] #low: lowest limit
self.sldn = [] #now: current value
self.labels = []
tform.set_zeros(self.sld)
tform.set_zeros(self.sldh)
tform.set_zeros(self.sldl)
tform.set_zeros(self.sldn)
tform.set_zeros(self.labels)
self.progress = [0,0,0,0,0]
self.index =0
# speech
self._contents = ''
# inner publishers
self.pub_s = rospy.Publisher('/silva/speech_global/jp', String, queue_size=10)
# GUI
self.title = 'silva'
self.left = 300
self.top = 50
self.width = 1366
self.height = 768
# param
self.state = [0.0, 0.0, 0.5, 0.0]
# yaml params
self.param_config = tform.read_param('gui_config')
self.table_widget = MyTableWidget(self)
self.table_widget.setGeometry(10,295,300,450)
#self.setCentralWidget(self.table_widget)
self.table_widget_b = ButtomWidget(self)
self.table_widget_b.setGeometry(300,460,850,265)
self.initUI()
# subscribe message name: /fusion, # devide it according to different device names. @author: ustyui """ import rospy from silva_beta.msg import Evans import transformations as tform import socket, errno import sys import threading ### read parameters ### param_config = tform.read_param() seq_of_jointname = param_config['SequenceOfJoints'] _RATE = param_config['Rates']['jointinterface'] ip = param_config['IP'] port = param_config['PORT'] # import sensor_msgs "-------------------------------------------------------------parameter input" dev_name = sys.argv[1] "-------------------------------------------------------------global functions" def callback(msg, args):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
# decoration
rospack = rospkg.RosPack()
self.picpath = rospack.get_path('silva_beta') + '/src/assets/logo.png'
# object init
self.sld = []
self.sldh = [] #high: highest limit
self.sldl = [] #low: lowest limit
self.sldn = [] #now: current operation value
self.sldr = [] #real: feedback value label from ibuki
self.labels = []
# init labels
self.fb_value = [] # feedback value buffer
tform.set_zeros(self.sld)
tform.set_zeros(self.sldh)
tform.set_zeros(self.sldl)
tform.set_zeros(self.sldn)
tform.set_zeros(self.sldr)
tform.set_zeros(self.labels)
tform.set_zeros(self.fb_value)
self.progress = [0, 0, 0, 0]
# expressions
self.expression = []
# obtain expressions
param_config = tform.read_param('momentary_motion', 'ibuki_extra')
self.expression = param_config['Expression']
self.index = 0
# speech
self._contents = ''
# inner publishers
self.pub_s = rospy.Publisher('/silva/speech_global/jp',
String,
queue_size=10)
# get minimum, maximum, and default
self.default, blank = tform.load_map('ibuki')
min_v, max_v = tform.load_map('limit')
self.min_rel = []
self.max_rel = []
# get rel minimum and maximum
for i in range(len(min_v)):
if (min_v[i] != -1 or max_v[i] != -1):
self.min_rel.append(self.default[i] - min_v[i])
self.max_rel.append(max_v[i] - self.default[i])
else:
self.min_rel.append(100)
self.max_rel.append(100)
# GUI
self.title = 'silva'
self.left = 300
self.top = 50
self.width = 1366
self.height = 768
# param
self.state = [0.0, 0.0, 1.0, 0.0]
# yaml params
self.param_config = tform.read_param('gui_config')
self.table_widget = MyTableWidget(self)
self.table_widget.setGeometry(10, 295, 300, 450)
#self.setCentralWidget(self.table_widget)
self.table_widget_b = ButtomWidget(self)
self.table_widget_b.setGeometry(300, 460, 850, 265)
self.initUI()
time.sleep(2) # load delay for stable
# subscribers
sub_states = rospy.Subscriber('/silva/states', Float32MultiArray,
self.states_cb)
sub_fbs = rospy.Subscriber('/silva/reflex_local/ch0', Evans,
self.fb_cb)